TY - GEN
T1 - Simulation of RC Helicopter based on dynamics of quaternion by using OpenGL and simulink
AU - Ham, Woonchul
AU - Park, Jaebyung
AU - Tumenjargal, Enkhbaatar
AU - Badarch, Luubaatar
AU - Kwon, Hyeokjae
PY - 2011
Y1 - 2011
N2 - In this paper, we present a sliding mode control for the radio controlled helicopter based on quaternion dynamics. We also introduce the kinematics of the rotating object based on quaternion and then propose a robust sliding mode control algorithm which can guarantee the over all stability of the whole system. We will show the simulation results by using the matlab simulink software tool and then implement the computer animation by using OpenGL based on the data of the simulation results. In this paper, we introduce implementation of virtual training environments based on Embedded System. Our virtual environment consists of S3C6410 ARM11 based embedded board, 3D Auto-Stereoscopic LCD Module, and RC Helicopter's remote controller. We use the simple dynamics of the helicopter which we derived in previous research work under the assumption that it can be modeled as rigid body composed of three main parts, such as main body, main rotor, and tail rotor. From the computer simulation, we can check the validness of proposed control law.
AB - In this paper, we present a sliding mode control for the radio controlled helicopter based on quaternion dynamics. We also introduce the kinematics of the rotating object based on quaternion and then propose a robust sliding mode control algorithm which can guarantee the over all stability of the whole system. We will show the simulation results by using the matlab simulink software tool and then implement the computer animation by using OpenGL based on the data of the simulation results. In this paper, we introduce implementation of virtual training environments based on Embedded System. Our virtual environment consists of S3C6410 ARM11 based embedded board, 3D Auto-Stereoscopic LCD Module, and RC Helicopter's remote controller. We use the simple dynamics of the helicopter which we derived in previous research work under the assumption that it can be modeled as rigid body composed of three main parts, such as main body, main rotor, and tail rotor. From the computer simulation, we can check the validness of proposed control law.
KW - Helicopter
KW - Quaternion
KW - Simulink
KW - Sliding Mode Control
UR - https://www.scopus.com/pages/publications/84863175982
U2 - 10.1109/URAI.2011.6145874
DO - 10.1109/URAI.2011.6145874
M3 - Conference paper
AN - SCOPUS:84863175982
SN - 9781457707223
T3 - URAI 2011 - 2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence
SP - 516
EP - 520
BT - URAI 2011 - 2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence
T2 - 2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2011
Y2 - 23 November 2011 through 26 November 2011
ER -